CN111170128B - Door control device and door control method for elevator - Google Patents
Door control device and door control method for elevator Download PDFInfo
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- CN111170128B CN111170128B CN201911087299.8A CN201911087299A CN111170128B CN 111170128 B CN111170128 B CN 111170128B CN 201911087299 A CN201911087299 A CN 201911087299A CN 111170128 B CN111170128 B CN 111170128B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0087—Devices facilitating maintenance, repair or inspection tasks
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- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
- Maintenance And Inspection Apparatuses For Elevators (AREA)
Abstract
The invention provides a door control device of an elevator, which can shorten the time required by the confirmation operation and the adjustment operation of the clamping distance of a clamping mechanism. Determining an actual engagement distance (La) of an engagement member (3) when the car side door (4) is opened or closed and the engagement member (3) of the car side door (4) is engaged with an engaged member (2) of a landing side door (5); an approach distance (Delta La) indicating the degree of approach of the engaging member (3) to the engaged member (2) is obtained based on the actual engagement distance (La) and a predetermined reference engagement distance (Lset) between the engaging member (3) and the engaged member (2) that have been determined in advance, and when it is determined that the engaging member (3) and the engaged member (2) are approaching a predetermined distance or more based on the approach distance (Delta La), it is determined that an abnormal state is present, and an adjustment amount (Delta Lajt) for adjusting the actual engagement distance between the engaging member and the engaged member is obtained based on the approach distance (Delta La).
Description
Technical Field
The present invention relates to a door control device for an elevator, and more particularly to a door control device for an elevator, which opens and closes a car side door and a landing side door by connecting them by an engagement mechanism.
Background
In a general elevator, in order to allow passengers to get on and off the elevator, an upper and lower doorway (hereinafter, referred to as a landing side upper and lower doorway) is provided in an elevator hall provided in each floor of a building. Similarly, the car is provided with upper and lower ports for passengers to get on and off (hereinafter referred to as car-side upper and lower ports). In addition, openable and closable doors (hereinafter, referred to as a landing side door and a car side door) are provided at the landing side upper and lower ports or the car side upper and lower ports.
The car side door is opened and closed by a door opening/closing drive mechanism provided in the car, and the landing side door is indirectly opened and closed by the car side door. That is, the landing side door and the car side door are provided with engagement mechanisms that engage only when the doors are opened and closed, and when the car side door is opened and closed by the car door opening/closing drive mechanism, the landing side door and the car side door are opened and closed in a linked manner by the engagement mechanisms.
The engaging mechanism for opening and closing the car side door and the landing side door in an interlocking manner is composed of an engaging member provided in the car side door and an engaged member provided in the landing side door, and the engaging member of the car side door is engaged with the engaged member of the landing side door when the car reaches the elevator hall and stops. When the car side door is opened and closed by the door driving mechanism, the engagement member engages with the engaged member to transmit the opening and closing operation, and as a result, the landing side door is opened and closed in conjunction with the car side door.
The above-described door control device for an elevator is disclosed in, for example, international publication No. 2012/093441 (patent document 1). Patent document 1 includes: the landing door detection device includes rotation detection means for detecting rotation of a motor of a door opening/closing drive mechanism, a current sensor for detecting torque of the motor, means for calculating an identification line obtained by statistically separating time-series data obtained from the rotation detection means and the current sensor before and after engagement with the landing side door, and storage means for storing the identification line.
Therefore, even if a variation in the engagement distance between the engagement member of the car side door and the engaged member of the landing side door occurs due to a floor, an uneven load, or the like, the engagement between the car side door and the landing side door can be detected quickly. Documents of the prior art
Patent document
Patent document 1: international publication No. 2012/093441
Disclosure of Invention
Technical problem to be solved by the invention
However, since the car travels in the elevator shaft so as to ascend and descend between floors, the engaging member of the car side door and the engaged member of the landing side door have a predetermined gap so as not to come into contact with each other during traveling. However, when a building inclination due to a change over time or a car inclination due to extension of a rope for raising and lowering the car occurs, a gap between an engaging member of the car side door and an engaged member of the landing side door may be narrowed.
Therefore, when the car travels in the elevator shaft, an engaging member provided in the car side door may come into contact with an engaged member provided in the landing side door, and the engaging mechanism may be damaged. Therefore, it is necessary to secure a predetermined gap between an engaging member provided in the car side door and an engaged member provided in the landing side door. However, this gap is a gap before the engaging member and the engaged member are engaged, and hereinafter, it is referred to as "engagement distance".
In a conventional elevator, a maintenance worker periodically checks an engagement mechanism and confirms an engagement distance between an engagement member and an engaged member, and when the engagement distance between the engagement member and the engaged member is smaller than an allowable distance, the engagement distance between the engagement member of a car side door and the engaged member of a landing side door is readjusted to the allowable distance.
Further, since an elevator hall is provided at each floor of a building, it is necessary to confirm and adjust an engagement distance between an engagement member of an engagement mechanism and an engaged member for each floor, and therefore, there is a problem as follows: it takes a long time for the maintenance worker to perform the checking work and the adjusting work of the engagement mechanism.
In addition, the door control device for an elevator described in patent document 1 detects only the engagement position in order to quickly detect the engagement between the car side door and the landing side door and accelerate the car side door, and thus cannot solve the above-described problem.
The invention provides a door control device and a door control method for an elevator, which can shorten the time required for confirming the clamping distance of a clamping mechanism and adjusting the clamping distance.
Technical scheme for solving technical problem
The invention is characterized in that: an actual engagement distance, which is a movement distance of an engagement member when the engagement member of the car side door is engaged with an engaged member of the landing side door by opening or closing the car side door, is obtained, an approach distance indicating a degree of approach of the engagement member to the engaged member is obtained based on the actual engagement distance and a predetermined reference engagement distance between the engagement member and the engaged member determined in advance, and it is determined that an abnormal state is present when it is determined that the engagement member and the engaged member are in proximity to each other by a predetermined distance or more based on the approach distance.
More preferably, an adjustment amount for adjusting an actual engagement distance between the engaging member and the engaged member is obtained based on the proximity distance.
Effects of the invention
According to the present invention, it is possible to automatically determine whether or not the engagement distance between the engagement member of the car side door and the engaged member of the landing side door falls within the allowable distance range, and more preferably, when the engagement distance does not fall within the allowable distance range, the adjustment amount is automatically obtained and notified, so that it is possible to shorten the time required for the confirmation operation and the adjustment operation of the engagement distance of the engagement mechanism by the maintenance worker.
Drawings
Fig. 1 is an explanatory diagram for explaining a positional relationship of an engagement mechanism in a state where a car arrives at an elevator hall and stops.
Fig. 2 is a functional block diagram illustrating functions of a door control device for an elevator according to an embodiment of the present invention.
Fig. 3 is an explanatory diagram for explaining a method of considering the calculation performed by the engagement deviation calculating unit shown in fig. 2.
Fig. 4 is a flowchart showing the first half of the control flow executed in the embodiment shown in fig. 2.
Fig. 5 is a flowchart showing the latter half of the control flow executed in the embodiment shown in fig. 2.
Fig. 6 is a flowchart showing a modification of the control flow in the latter half shown in fig. 5.
Detailed Description
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to the embodiments below, and various modifications and applications of the technical concept of the present invention are included in the scope thereof.
Fig. 1 shows a positional relationship of an engagement mechanism in a state where a car arrives at an elevator hall and stops. In fig. 1, a pair of doors, i.e., a car side door 4 and a landing side door 5, opens and closes a car side upper and lower port and a landing side upper and lower port by moving closer to and away from each other. The present embodiment is not limited to this, and may be configured to open and close the car-side upper and lower hatches and the landing-side upper and lower hatches by moving one door.
When the car 1 stops at an arbitrary floor, a pair of engaging rollers 2, which are "engaged members" attached to the landing side door 5, are disposed between a pair of engaging pieces 3, which are "engaging members" attached to the car side door 4. Thus, the pair of engaging rollers 2 and the pair of engaging pieces 3 are provided for opening and closing. In addition, the relationship between the engaging piece 3 and the engaging roller 2 is not necessarily the same.
When the car side door 4 is opened and closed by a door opening/closing drive mechanism (not shown), the engaging piece 3 engages with the engaging roller 2, and the engaging piece 3 engages with the engaging roller 2, whereby a lock mechanism (not shown) provided in the landing side door 5 is released, and the landing side door 5 can be opened and closed. Thus, the landing side door 5 and the car side door 4 are connected to the engaging roller 2 by the engaging member 3 and are opened and closed in conjunction with each other.
The engaging mechanism is constituted by the engaging piece 3 provided in the car side door 4 and the engaging roller 2 provided in the landing side door 5, but the structure of the engaging mechanism is not limited to the engaging piece 3 and the engaging roller 2 described above, and a flat plate-shaped engaging member may be used for each of them. Further, since the engaging piece 3 and the engaging roller 2 are configured to be adjustable in their positional relationship with each other, the engaging distance G between the engaging piece 3 and the engaging roller 2 can be adjusted by a maintenance worker.
The opening and closing operations of the car side door 4 and the landing side door 5 having the above-described configuration are controlled by a door control device of the elevator shown in fig. 2. Next, the structure of the door control device will be described with reference to fig. 2.
Fig. 2 shows functional blocks of a control panel 10 and a drive control unit (drive control means) 11 for controlling the driving of the elevator doors for controlling the opening and closing operations of the car side door 4 and the landing side door 5. The control panel 10 is provided in an elevator shaft or the like other than the car, and the drive control unit 11 is provided on the top surface of the car. In addition, the drive control unit 11 may be provided in the elevator shaft.
The drive control section 11 controls a drive section including a motor, thereby opening and closing the car side door 4 and the landing side door 5. The drive control unit 11 is configured by a power supply circuit, a microcomputer, an input/output circuit, and the like, but is shown as a functional block excluding the power supply circuit in fig. 2.
The drive control unit 11 receives the door opening/closing command signal 14, generates a speed pattern for opening/closing the door by the speed command calculation unit 15, and generates a speed command by the speed control calculation unit 16 based on the speed pattern. The speed command generated by the speed control arithmetic unit 16 is a current command generated by the current control arithmetic unit 17, and power conversion for driving the motor 19 is performed by the voltage conversion unit 18.
The motor 19 is rotated by the output from the voltage conversion unit 18, and the rotation information at this time is detected by the rotation detection unit 20. The rotation detecting unit 20 for detecting the rotation information of the motor 19 is constituted by, for example, a rotary encoder.
The rotation detecting unit 20 is provided on the drive shaft of the motor 19 and detects rotation of the drive shaft. The rotation information detected by the rotation detecting unit 20 is input to the pulse calculating unit 21 of the drive control unit 11.
In order to calculate the moving distance of the car side door 4, the moving distance information is calculated by multiplying the rotation information input to the pulse calculation unit 21 by a coefficient K1. The position calculation unit 22 calculates the moving distance of the car side door 4 by multiplying the moving distance information calculated by the pulse calculation unit 21 by a coefficient K2.
In order to detect the moving speed of the car side door 4, the moving distance information calculated by the pulse calculating unit 21 is differentiated in the speed calculating unit 23 to calculate the moving speed Va of the car side door 4. The moving speed Va is used to detect that the engaging piece 3 described later is engaged with the engaging roller 2.
The speed command calculation unit 15 generates a speed pattern at the time of opening and closing the door using the moving distance of the car side door 4 calculated by the position calculation unit 22. Similarly, the speed command calculation unit 16 generates a speed command using the moving speed of the car side door 4 calculated by the position calculation unit 23.
The current detection unit 24 detects a current value for driving the motor 19, and the current control operation unit 17 generates a current command using the current value detected by the current detection unit 24.
Since the above-described configuration is a well-known configuration, detailed description is omitted, and the configuration of the engagement portion adjustment amount determination unit 13, which is a feature of the present embodiment, will be described below.
The engagement portion adjustment amount determination unit 13 is characterized in that: the method includes the steps of obtaining an actual engagement distance, which is a movement distance of an engagement member when the car side door is opened or closed and the engagement member of the car side door is engaged with a target engagement member of a landing side door, obtaining a proximity distance indicating a proximity degree of the engagement member and the target engagement member based on the actual engagement distance and a predetermined reference engagement distance between the engagement member and the target engagement member, determining that the car side door is in an abnormal state when it is determined that the engagement member and the target engagement member are close to or more than a predetermined distance based on the proximity distance, and obtaining an adjustment amount for adjusting the actual engagement distance between the engagement member and the target engagement member based on the proximity distance.
Further, the engaging portion adjustment amount determining portion 13 includes: an engagement position calculation unit 25 for calculating an actual moving distance of the engaging piece 3 when the engaging piece 3 of the car side door 4 is engaged with the engaging roller 2 of the landing side door 5 as an actual engagement distance (La); an engagement deviation calculation unit 28 that calculates an actual engagement deviation amount (Δ La) between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5, and an engagement deviation adjustment amount (Δ Lajt); and a storage unit 27 for storing at least the actual engagement distance (La), the actual engagement deviation amount (Δ La), and the engagement deviation adjustment amount (Δ Lajt).
The engagement position calculation unit 25 detects a decrease in the movement speed of the car side door 4 when the engaging piece 3 provided in the car side door 4 that moves by driving the motor 19 during door opening and closing comes into contact with and engages the engaging roller 2 provided in the landing side door 5, and estimates the actual engagement distance (La is the actual movement distance of the engaging piece 3) at which the engaging piece 3 of the car side door 4 engages with the engaging roller 2 of the landing side door 5.
Hereinafter, the actual engagement distance and the actual movement distance will be described as equivalent.
The decrease in the moving speed of the car side door 4 when the engaging piece 3 engages with the engaging roller 2 can be determined by comparing the moving speed (Va) of the car side door 4 calculated by the speed calculation unit 23 with a speed threshold (Vsh) for determining the engagement of the engaging piece 3 with the engaging roller 2. Alternatively, it is possible to detect and determine that the change gradient of the moving speed of the car side door 4 is small. In short, it is sufficient to detect that the engaging piece 3 is engaged with the engaging roller 2 and the moving speed of the car side door 4 is reduced.
Further, although not illustrated, it is also possible to detect a change in the torque value or a change in the current value of the motor 19 and detect that the engaging piece 3 is engaged with the engaging roller 2. Thus, by detecting the state quantity indicating the engagement of the engaging piece 3 with the engaging roller 2, the actual engagement distance (La) of the car side door 4 can be obtained as described later.
The engagement position calculation unit 25 compares a speed threshold (Vsh) for determining that the engaging piece 3 is engaged with the engaging roller 2 with the moving speed (Va) of the car side door 4, and outputs the actual engagement distance (La) of the car side door 4 calculated by the position calculation unit 22 to the storage unit 27 as the engagement position when it is determined that the engaging piece 3 is engaged with the engaging roller 2.
The actual engagement distance (La) represents the engagement distance between the engaging piece 3 and the engaging roller 2 at the present time. The storage unit 27 is composed of a rewritable storage element, and can use, for example, a power supply backup RAM, an EEPROM, or the like.
Here, the floor determination signal 26 is input to the storage unit 27, and the actual engagement distance (La) of the engagement roller 2 of the car side door 4 calculated based on the received floor determination signal 26 is stored for each floor. Thus, by storing the actual engaging distance (La) of the engaging roller 2 of the car side door 4 of all floors of the building or a specific plurality of floors, the maintenance worker can efficiently perform the adjustment work of the engaging distance between the engaging piece 3 and the engaging roller 2 as described later.
The engagement deviation calculation unit 28 calculates an actual engagement deviation amount (Δ La) based on an expression "Δ La ═ Lset-La" using a preset reference engagement distance (initial standard value: Lset) which is the engagement distance between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5, and an actual engagement distance (La) of the engaging piece 3 of the car side door 4 stored in the storage unit 27 and regarded as the engagement position.
Here, although a slight error occurs in the engagement deviation amount (Δ La) due to the operation of the lock mechanism, the error may be reflected in the engagement deviation amount (Δ La) or may be ignored. Hereinafter, a case where the error can be ignored will be described.
Here, the actual engagement deviation amount (Δ La) can be handled as "approach distance information" indicating the degree of approach of the actual engaging piece 3 to the engaging roller 2. The calculated actual engagement deviation amount (Δ La) is also stored in the storage unit 27 for each floor.
The reference engagement distance (Lset) is a standard value indicating the engagement distance between the engaging piece 3 and the engaging roller 2, which is determined in advance in the design stage, but in practice, the actual engagement distance La obtained from the lifting operation at the initial stage of installation may be used as the reference engagement distance (Lset) after the elevator is installed in the building. This makes it possible to set a reference engagement distance (Lset) that takes into account the actual condition of the building.
Then, an "engagement deviation adjustment amount Δ Lajt" required for an adjustment operation of the actual engagement distance (La) is calculated and obtained based on an expression of "Δ Lajt —" Δ La — Δ Lsh ", based on a difference between an engagement deviation threshold value (Δ Lsh) which is an allowable engagement deviation amount predetermined from a reference engagement distance (Lset) between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5 and the actual engagement deviation amount (Δ La) stored in the storage unit 27. The engagement deviation adjustment amount (Δ Lajt) required for the adjustment work of the actual engagement distance (La) is also stored in the storage unit 27 for each floor.
Fig. 3 shows a method of considering the calculation performed by the engagement deviation calculating unit 28. Fig. 3 a and 3B show the relationship between the reference engagement distance (Lset) between the engaging piece 3 and the engaging roller 2, the engagement deviation amount threshold (Δ Lsh), the actual engagement distance (La), the actual engagement deviation amount (Δ L a), and the engagement deviation adjustment amount (Δ Lajt).
The position of the engaging piece 3 indicated by a broken line indicates that the actual engaging distance La varies.
As is clear from fig. 3 a, since the actual engagement deviation amount (Δ La) of the engaging piece 3 of the car side door 4 falls within the range of the engagement deviation amount threshold (Δ Lsh), it is not necessary to adjust the distance of the engagement distance (La) between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5.
On the other hand, in fig. 3B, since the actual engagement deviation amount (Δ La) of the engaging piece 3 of the car side door 4 is out of the range of the engagement deviation amount threshold value (Δ Lsh), it is necessary to adjust the distance of the engagement distance (La) between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5 to be long. The adjustment amount is an engagement deviation adjustment amount (Δ Lajt).
Thus, the engagement deviation adjustment amount (Δ L ajt) for adjusting the actual engagement distance La between the engaging piece 3 and the engaging roller 2 can be obtained based on the actual engagement deviation amount (Δ La) which is the "approach distance information".
Next, the abnormality determination unit 29 determines an engagement deviation difference (Δ La- Δ Lsh) from an engagement deviation amount threshold (Δ Lsh) predetermined from the reference engagement distance (Lset) and the actual engagement deviation amount (Δ La), and executes an abnormality process described later when it is determined that the engagement deviation difference (Δ La- Δ Lsh) is a difference equal to or greater than a predetermined value.
In addition, unlike the above-described method, the abnormality determination process can determine the abnormal variation in the actual engagement distance by a method of grasping the time variation tendency of the actual engagement deviation amount (Δ La). This method will be briefly described with reference to fig. 6.
Here, the abnormality determination processing of the abnormality determination unit 29 determines that the abnormality is present based on at least two difference determination thresholds, namely, a "first difference determination threshold" and a "second difference determination threshold", and sets the first difference determination threshold to a value larger than the second difference determination threshold.
That is, the first difference determination threshold is used to make the following determination: the engaging piece 3 for the car side door 4 and the engaging roller 2 of the landing side door 5 are too close to each other, and it is considered that there is a possibility that the engaging piece 3 and the engaging roller 2 come into contact with each other, and abnormality determination is immediately performed (i.e., abnormality determination). Note that the first difference determination threshold value is referred to as an "abnormality detection threshold value" in fig. 5.
Further, the second difference determination threshold is used to make the following determination: although the engaging piece 3 and the engaging roller 2 used for the car side door 4 are not close to each other, the determination of the adjustment work is promoted before the determination is abnormal (i.e., adjustment promotion determination) in the future, which is considered that the engaging piece 3 and the engaging roller 2 may eventually (with a warning) come into contact with each other. Note that the second difference determination threshold is referred to as a "sign detection threshold" in fig. 5.
When the abnormality determination unit 29 determines "abnormality determination" or "adjustment promotion determination", the abnormality determination unit 29 transmits information on the amount of engagement deviation adjustment (Δ Lajt) required between the calculation unit 30 and the adjustment work to the control panel 10, and notifies the control panel 10 to the management center 32. The functions performed by the control panel 10 and the drive control unit 11 are described here.
On the other hand, when receiving the notification signal 30 and the information of the engagement deviation adjustment amount (Δ Lajt) required for the adjustment work from the abnormality determination unit 29, the management center 32 transmits the on-site work instruction of the maintenance person and the information of the engagement deviation adjustment amount (Δ Lajt) required for the adjustment work for each floor to the work terminal provided for the maintenance person.
Then, the maintenance worker performs an actual operation of adjusting the engagement distance between the engaging piece 3 of the car side door 4 of the elevator and the engaging roller 2 of the landing side door 5 based on information from the operation terminal. In this case, since the adjustment amount of the door to be adjusted is transmitted in advance, the maintenance worker performs the adjustment based on the adjustment amount. The information may be directly notified to the operation terminal 33 of the maintenance worker without being notified from the control panel 10 to the management center 32.
Thus, in the door control device of the present embodiment, it is possible to automatically confirm the engagement state of the engagement mechanism constituted by the engaging piece 3 and the engaging roller 2, and more preferably, it is also possible to automatically obtain the adjustment amount of the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2 and transmit the adjustment amount to the management center. Therefore, the work of checking and adjusting the engagement mechanism between the car side door 4 and the landing side door 5 by a maintenance worker on site can be facilitated, and the time taken for the work can be shortened.
Next, a control flow until the calculation of the engagement deviation adjustment amount (Δ Laj t) required for the adjustment work and the transmission of the work instruction to the maintenance worker on the site and the information of the engagement deviation adjustment amount (Δ Laj t) required for the adjustment work to the management center will be described with reference to fig. 4 and 5. The control flow may be executed at every predetermined time during the operation of the elevator, or may be executed at the start of the operation of the elevator, at the stop of the operation of the elevator, or at the time of the inspection work.
When the operation is performed every predetermined time, the control flow can be started by a comparative interrupt of a timer function of a microcomputer incorporated in the drive control unit 11, and when the operation of the elevator is started, stopped, or performed during inspection work, the control flow can be started by an external interrupt such as a switch signal.
Hereinafter, the opening operation of the car side door 4 and the landing side door 5 will be described with reference to fig. 4 and 5, but the closing operation is substantially the same, and therefore, the description of the closing operation will be omitted here.
Step S10
In step S10, the motor 19 of the drive unit 12 is driven in response to the door opening/closing command signal 14, and the car side door 4 and the landing side door 5 are opened. When the opening operation is started, the process proceeds to step S11.
Step S11
In step S11, the movement distance information is calculated by multiplying the rotation information of the drive shaft of the motor 19 by the coefficient K1, and the movement distance information is calculated by multiplying the movement distance information by the coefficient K2, thereby calculating the movement distance of the car side door 4. Here, the moving distance of the car side door 4 is substantially equivalent to the moving distance of the engaging piece 3 provided in the car side door. In step S11, the operations of the functional blocks of the pulse arithmetic unit 21 and the position arithmetic unit 22 in fig. 2 are executed. When the moving distance of the car side door 4 is calculated, the process proceeds to step S12.
Step S12
In step S12, the moving speed (Va) of the car side door 4 is calculated by differentiating the moving distance information calculated based on the rotation information. Of course, the moving speed (Va) of the car side door 4 is substantially equivalent to the moving speed of the engaging piece 3 provided in the car side door. In step S12, the operations of the functional blocks of the pulse arithmetic unit 21 and the speed arithmetic unit 23 in fig. 2 are executed. When the moving speed of the car side door 4 is calculated, the process proceeds to step S13.
Step S13
In step S13, it is determined whether the moving speed (Va) of the car side door 4 determined in step S12 is lower than a preset speed threshold (Vsh). The speed threshold value (Vsh) is set to a speed lower than the speed command value of the speed command calculation unit 15.
This determination is made by determining that the engaging piece 3 of the car side door 4 is in contact with the engaging roller 2 of the landing side door 5, and therefore, this determination is made by utilizing a phenomenon that when the engaging piece 3 of the car side door 4 is in contact with the engaging roller 2 of the landing side door 5, the load increases and the moving speed (Va) of the car side door 4 decreases.
In the determination at step S13, a speed change amount of the moving speed (Va) of the car side door 4 may be detected and determined. For example, the amount of change in speed per predetermined time is detected, and when the amount of change in speed becomes small or becomes a negative amount of change, it can be determined that the engaging piece 3 of the car side door 4 is in contact with the engaging roller 2 of the landing side door 5. In step S13, the operation of the functional block of the engagement position calculating unit 25 in fig. 2 is executed.
In step S13, if a decision is made that the engaging piece 3 of the car side door 4 is not in contact with the engaging roller 2 of the landing side door 5, the process returns to step S11 again, and if a decision is made that the engaging piece 3 is in contact with the engaging roller 2, the process proceeds to step S14.
Step S14
In step S14, since it is determined that the engaging piece 3 of the car side door 4 is in contact with the engaging roller 2 of the landing side door 5, the actual moving distance of the car side door 4 at that time is estimated as the actual engaging distance (La), and the actual engaging distance (La) of the car side door 4 is stored as the engaging position. The actual engagement distance (La) of the car side door 4 is stored in a working area of the RAM for calculation to be described later.
In step S14, the operation of the functional block of the engagement position calculating unit 25 in fig. 2 is executed. When the actual engagement distance La of the car side door 4 is obtained, the process proceeds to step S15.
Step S15
In step S15, an actual engagement deviation amount (Δ La) is calculated and stored based on an expression "Δ La ═ Lset — La" using a predetermined reference engagement distance (Lset) and an actual engagement distance (La) in the work area stored in the RAM. This actual engagement deviation amount (Δ La) is also stored in the work area of the RAM for the calculation described later. The reference engagement distance (Lset) is a standard value determined in the design stage, but in practice, after the elevator is installed in the building, the actual engagement distance (La) obtained from the initial installation of the elevator is used as the reference engagement distance (Lset).
In step S15, the operation of the functional block of the engagement deviation calculation unit 28 in fig. 2 is executed. In addition, the operations of the functional blocks of the engagement deviation calculation unit 28 in fig. 2 are executed in the control steps up to step S20, which will be described later. When the actual engagement deviation amount (Δ La) of the car side door 4 is obtained, the process proceeds to step S16.
Step S16
In step S16, an engagement deviation adjustment amount required for adjustment work is calculated and stored based on an expression "Δ Lajt — Δ Lsh", based on an "engagement deviation difference" between an engagement deviation threshold (Δ Lsh) which is an allowable engagement deviation amount predetermined from a reference engagement distance (Lset) between the engaging metal fitting 3 of the car side door 4 and the engaging roller 2 of the landing side door 5 and an actual engagement deviation amount (Δ La) stored in a working region of the RAM. The engagement deviation adjustment amount (Δ Lajt) is also stored in the working area of the RAM for the calculation described later. If the engagement deviation adjustment amount (Δ Lajt) is obtained, the routine proceeds to step S17.
Step S17
In step S17, the floor determination signal is received, and the current floor is determined. Thus, the engagement position (actual engagement distance La), actual engagement deviation amount (Δ La), engagement deviation adjustment amount (Δ L ajt), and the like of the engagement roller 3 of the car side door 4 and the landing side door 5 of the floor at the current time are determined. If the floor determination is completed, the process proceeds to step S18.
Step S18
In step S18, the engagement position (actual engagement distance La), actual engagement deviation amount (Δ La), engagement deviation adjustment amount (Δ Lajt), and the like are stored in the storage unit 27 in association with the floor determined in step S17. Therefore, information such as the engagement position (actual engagement distance La), the actual engagement deviation amount (Δ La), and the engagement deviation adjustment amount (Δ Lajt) can be searched for each floor. When the engagement position (actual engagement distance La), the actual engagement deviation amount (Δ La), the engagement deviation adjustment amount (Δ Lajt), and the like are stored in the storage unit 27, the process proceeds to step S19.
Step S19
In step S19, it is determined whether or not the measurement of the engagement position (actual engagement distance La), the actual engagement deviation amount (Δ La), the engagement deviation adjustment amount (Δ Lajt), and the like of the engagement mechanism described above is completed on all floors or on a plurality of floors set in advance.
If it is determined in step S19 that the measurement of the engagement positions (actual engagement distance La), the actual engagement deviation amount (Δ La), the engagement deviation adjustment amount (Δ L ajt), and the like of the engagement mechanisms of the plurality of floors has not been completed, the routine returns to step S10 again and the control procedure described above is executed. On the other hand, if it is determined that the measurement of the engagement position (actual engagement distance La), the actual engagement deviation amount (Δ La), the engagement deviation adjustment amount (Δ Lajt), and the like of the engagement mechanism for a plurality of floors is completed, the routine proceeds to step S20.
Step S20
Step S20 is a control step added as a modification of the present embodiment, and is therefore indicated by a broken line. Therefore, when step S20 is not executed, the subsequent control step uses the engagement deviation adjustment amount (Δ Lajt) for each individual floor.
In step S20, an engagement deviation adjustment amount (Δ Lajtm) that can be applied to a plurality of floors in a unified manner is calculated. This calculation is obtained by averaging a plurality of engagement deviation adjustment amounts (Δ Lajt). The plurality of floors may be all floors, and floors such as "even floors", "odd floors", "predetermined number of floors", or "lowest floor, intermediate floor, and uppermost floor" may be selected. Therefore, the engagement deviation adjustment amount (Δ Lajtm) that can be applied collectively may be calculated from the plurality of floors selected in this way. If step S20 ends, the process proceeds to step S21.
As described above, since this step S20 is added as a modification, the abnormality determination of the engagement deviation adjustment amount (Δ Lajt) for each floor will be described in the following control steps. Further, the description when step S20 is executed will be described later. Since the control steps after step S21 are shown in fig. 5, the following description will be made with reference to fig. 5.
Step S21
In step S21, the engagement deviation adjustment amount (Δ Lajt) required for the adjustment work obtained in step S16 is compared with the abnormality detection threshold (first difference determination threshold) for each floor. The larger the engagement deviation adjustment amount (Δ Lajt), the smaller the actual engagement distance (La) between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5, indicating that the engaging piece 3 and the engaging roller 2 are closer. Therefore, the engaging piece 3 is likely to contact the engaging roller 2.
On the other hand, the smaller the engagement deviation adjustment amount (Δ Lajt), the larger the actual engagement distance (La) between the engaging piece 3 of the car side door 4 and the engaging roller 2 of the landing side door 5, and the further the engaging piece 3 and the engaging roller 2 are. Therefore, the engaging piece 3 is less likely to contact the engaging roller 2.
Then, when the engagement deviation adjustment amount (Δ Lajt) exceeds the abnormality detection threshold, the process proceeds to step S22, and when the engagement deviation adjustment amount (Δ Lajt) does not exceed the abnormality detection threshold, the process proceeds to step S23.
Step S22
Since it is determined in step S21 that the engagement deviation adjustment amount (Δ Lajt) exceeds the abnormality detection threshold, it is determined in step S22 that the actual engagement deviation amount (Δ La) is abnormally large. Thus, the message for stopping the elevator can be sent because the possibility that the engaging piece 3 is contacted with the engaging roller 2 is high when the abnormality is judged; or, since the possibility of falling into an environment where an abnormality occurs is particularly high, the floor is set as a key inspection floor and a message urging a maintenance worker to check and confirm the floor sufficiently is transmitted.
Of course, in this case, the engagement deviation adjustment amount (Δ Lajt) is also obtained, and therefore if it is determined to be abnormal, it is possible to set the priority of the additional inspection floors and immediately give priority to the adjustment work. If it is determined to be abnormal, the process proceeds to step S26.
Step S23
In step S23, the engagement deviation adjustment amount (Δ Lajt) required for the adjustment operation determined in step S16 is compared with a warning detection threshold (second difference determination threshold). As described above, the larger the engagement deviation adjustment amount (Δ Lajt), the smaller the actual engagement distance (La) between the engaging piece 3 of the car side door 4 and the landing side engaging roller 2, indicating that the closer the engaging piece 3 and the engaging roller 2 are. Therefore, when the engagement deviation adjustment amount (Δ Lajt) exceeds the warning detection threshold, it is considered that the engaging piece 3 is likely to come into contact with the engaging roller 2 in the future.
On the other hand, the smaller the engagement deviation adjustment amount (Δ Lajt), the larger the actual engagement distance (La) between the engaging piece 3 of the car side door 4 and the landing side engaging roller 2, the farther the engaging piece 3 and the engaging roller 2 are. Therefore, the engaging piece 3 is less likely to contact the engaging roller 2.
Then, when the engagement deviation adjustment amount (Δ Lajt) exceeds the abnormality detection threshold, the process proceeds to step S25, and when the engagement deviation adjustment amount (Δ Lajt) does not exceed the abnormality detection threshold, the process proceeds to step S24.
Step S24
Since it is determined in step S23 that the engagement deviation adjustment amount (Δ Lajt) does not exceed the warning detection threshold, it is determined in step S24 that the actual engagement deviation amount (Δ La) is within the allowable range and is determined to be normal. If it is determined to be normal, a message indicating that the operation is normal can be sent to the maintenance staff. If it is determined to be normal, the process proceeds to step S26.
Step S25
Since it is determined in step S23 that the engagement deviation adjustment amount (Δ Lajt) exceeds the warning detection threshold, it is determined in step S25 that the actual engagement deviation amount (Δ La) will increase in the future and adjustment is facilitated.
In this case, too, the engagement deviation adjustment amount (Δ Lajt) is obtained, and therefore, if it is determined that the adjustment is to be promoted, the setting is performed so that the priority order is given and the adjustment work is prioritized. In this case, the priority is lower than that in the case where the abnormality is determined, and the adjustment work may not be performed immediately, and a message for prompting the confirmation of the next inspection may be transmitted to the maintenance worker so as to be performed at the time of the next periodic inspection work. If it is determined that the adjustment is to be promoted, the process proceeds to step S26.
Step S26
In step S26, the results of the abnormality determination in step S22, the normality determination in step S24, and the adjustment promotion determination in step S25 are transmitted to the management center 32 as information of "normality", "abnormality", and "adjustment promotion" added to each floor as the notification signal 30, and the management center 32 is notified of the engagement deviation adjustment amount (Δ Lajt) of each floor requiring adjustment work as the engagement adjustment amount 31.
The above is a control flow executed by the drive control unit 11 including the control panel 10. Further, the information described above may not be notified to the management center 32, but may be directly notified to the work terminal 33 of the maintenance worker.
Here, when the unified engagement deviation adjustment amount (Δ Laj tm) that can be uniformly applied is calculated in step S20, the unified engagement deviation adjustment amount (Δ Lajtm) may be compared and determined in step S21 and step S23 instead of the engagement deviation adjustment amount (Δ Lajt). Then, in step S26, the collective engagement deviation adjustment amount (Δ Lajtm) is transmitted as the engagement deviation amount of the plurality of floors. Then, the maintenance person adjusts the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2 for each floor based on the unified engagement deviation adjustment amount (Δ Lajtm).
Step S27
In step S27, a control procedure of the management center 32 is shown, and when receiving the notification signal 30 or the information of the engagement deviation adjustment amount (Δ Lajt) or the unified engagement deviation adjustment amount (Δ Lajtm) in step S26, the management center 32 transmits the work instruction of the maintenance worker and the information of the engagement deviation adjustment amount (Δ Lajt) and the unified engagement deviation adjustment amount (Δ Laj tm) required for the adjustment work to the work terminal provided for the maintenance worker.
Then, the maintenance worker performs the actual confirmation operation and the adjustment operation of the engagement distance between the engaging piece 3 of the car side door 4 of the elevator and the engaging roller 2 of the landing side door 5 based on the information from the operation terminal.
The control flow described above is such that the abnormality determination operation is performed after the car side door 4 and the landing side door are opened and closed for all the selected floors (including all the floors), but it is needless to say that the determination operation may be performed after the car side door 4 and the landing side door are opened and closed for each floor. In this case, as the control procedure to be executed for each floor, step S10 to step S18, and step S21 to step S27 may be executed.
Next, a modified example of the control flow shown in fig. 5 will be described based on fig. 6. In fig. 6, the time variation of the actual engagement distance (La) is monitored in advance, and the confirmation operation and the adjustment operation of the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2 can be performed before the abnormality is determined.
Step S28
After step S19 of fig. 4 is executed, in step S28, it is determined whether or not a predetermined determination time has elapsed from the previous determination time. The determination time is set to a time at which the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2 may vary. Therefore, the determination time can be set by an empirically obtained time or a time during which the actual engagement distance (La) obtained by simulation varies, and is a long time. If it is determined in step S28 that the determination time is not exceeded, the process returns to step S28 again, and if it is determined in step S28 that the determination time is exceeded, the process proceeds to step S29.
Step S29
In step S29, it is determined whether or not the difference (Δ L ajtc- Δ Lajt-1) between the previous engagement deviation adjustment amount (Δ Lajt-1) obtained in the current determination time and the current engagement deviation adjustment amount (Δ Lajtc) is greater than the difference (Δ Lajt-1- Δ Lajt-2) between the previous engagement deviation adjustment amount (Δ Lajt-2) obtained in the previous determination time and the previous engagement deviation adjustment amount (Δ Lajt-1).
Thus, in step S29, it is estimated whether the trend of the fluctuation is maintained or promoted based on the trend of the fluctuation of the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2. Therefore, the prediction can be estimated based on the estimated state of the trend of the fluctuation before an abnormality such as contact between the engaging piece 3 and the engaging roller 2 occurs in the future.
In this determination, if it is determined that the difference in the current engagement deviation adjustment amount is small, the process proceeds to step S24, and if it is determined that the difference in the current engagement deviation adjustment amount is large, the process proceeds to step S30.
Step S30
In step S29, since it is determined that the trend of variation in the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2 is promoted, the accuracy of the warning is determined in step S30 by comparing the trend with the warning detection difference threshold. Therefore, if it is determined that the difference (Δ Lajtc- Δ Lajt-1) in the current engagement deviation adjustment amount is smaller than the warning detection difference threshold value, the routine proceeds to step S24. On the other hand, if it is determined that the difference (Δ Lajtc- Δ Lajt-1) in the current engagement deviation adjustment amount is greater than the warning detection difference threshold value, the routine proceeds to step S25. Since steps S24 to S27 are the same as the control steps shown in fig. 5, the description thereof is omitted.
Thus, in the modification shown in fig. 6, the time variation of the actual engagement distance (La) is monitored in advance, and it is possible to confirm the actual engagement distance (La) between the engaging piece 3 and the engaging roller 2 and adjust the actual engagement distance based on the determination that the palm grip is abnormal.
As described above, the present invention is configured to: the method includes the steps of obtaining an actual engagement distance, which is a movement distance of an engagement member when the car side door is opened or closed and the engagement member of the car side door is engaged with a member to be engaged of the landing side door, obtaining a proximity distance indicating a proximity degree of the engagement member and the member to be engaged based on the actual movement distance and a predetermined engagement distance between the engagement member and the member to be engaged, determining that the car side door is in an abnormal state when it is determined that the engagement member and the member to be engaged are close to a predetermined distance or more based on the proximity distance, and obtaining an adjustment amount for adjusting the engagement distance between the engagement member and the member to be engaged based on the proximity distance.
This makes it possible to automatically determine whether or not the engagement distance between the engagement member of the car side door and the engaged member of the landing side door falls within the allowable distance range, and automatically determine and notify the adjustment amount when the engagement distance does not fall within the allowable distance range.
The present invention is not limited to the above-described embodiments, and various modifications are also included. For example, the above-described embodiments have been described in detail to explain the present invention easily, but the present invention is not necessarily limited to having all the configurations described. Further, a part of the structure of one embodiment may be replaced with the structure of another embodiment, and the structure of another embodiment may be added to the structure of one embodiment. Further, some of the configurations of the embodiments may be added, deleted, or replaced with other configurations.
Description of the reference symbols
1 cage
2 clamping roller
3 engaging member
4 side door of car
5-layer station side door
10 control panel
11 drive control part
12 drive part
13 engagement portion adjustment amount determination unit
14 door opening/closing command signal
15 speed command operation unit
16 speed control arithmetic part
17 current control arithmetic unit
18 voltage conversion part
19 electric motor
20 rotation detecting part
21 pulse arithmetic part
22 position calculation unit
23 speed calculation unit
24 current detection unit
25 engaging position calculating part
26 floor discrimination signal
27 storage section
28 engagement deviation calculation unit
29 abnormality determination unit
30 notification signal
31 adjustment amount of engaging part
32 management center
33 work terminal.
Claims (6)
1. A door control apparatus of an elevator, the elevator comprising: a car side door that opens and closes upper and lower ports of an elevator car; a landing side door that opens and closes upper and lower ports of a landing of each floor; a motor that drives the car side door to open and close; an engaging mechanism provided between the car side door and the landing side door, the engaging mechanism including an engaging member provided in the car side door and an engaged member provided in the landing side door, the engaging member causing the landing side door to perform an opening and closing operation in conjunction with an opening and closing operation of the car side door performed by the opening and closing drive of the motor; and a drive control unit that controls the motor, the door control device of an elevator being characterized in that,
the drive control unit includes:
actual engagement distance calculation means for calculating an actual engagement distance that is a movement distance of the engagement member when the car side door is opened or closed and the engagement member provided in the car side door is engaged with the engaged member provided in the landing side door;
a proximity distance calculation unit that obtains a proximity distance indicating a proximity degree of the engagement member to the engaged member based on the actual engagement distance and a predetermined reference engagement distance between the engagement member and the engaged member; and
an abnormality determination unit that determines that the engaging member and the engaged member are in an abnormal state when it is determined that the engaging member and the engaged member are close to each other by a predetermined distance or more based on the close distance,
the drive control unit further includes an adjustment amount calculation unit that finds an adjustment amount for adjusting the actual engagement distance between the engaging member and the engaged member based on the approach distance,
the actual engagement distance calculation means obtains the actual engagement distance from a movement distance of the engagement member until the engagement member starts moving to a point of contact with the engaged member,
the approach distance calculating means subtracts the actual engagement distance from the reference engagement distance to obtain the approach distance, which is hereinafter referred to as an engagement deviation amount,
the abnormality determination means compares an engagement deviation difference, which is a difference between the engagement deviation amount and an engagement deviation amount threshold value, which is an allowable engagement deviation amount predetermined based on the reference engagement distance, with a predetermined difference determination threshold value to determine an abnormal state,
the adjustment amount calculation means obtains the engagement deviation difference, which is a difference between the engagement deviation amount and the engagement deviation amount threshold, as the adjustment amount, i.e., the engagement deviation adjustment amount.
2. The door control apparatus of an elevator according to claim 1,
the abnormality determination unit has a first difference determination threshold value and a second difference determination threshold value smaller than the first difference determination threshold value as the difference determination threshold value,
if the engagement deviation difference is greater than the first difference determination threshold, it is determined that the state is abnormal,
and if the engagement deviation difference is smaller than the first difference determination threshold and larger than the second difference threshold, determining that the actual engagement distance needs to be adjusted.
3. The door control apparatus of an elevator according to claim 1,
the reference engagement distance used for calculation by the approach distance calculation means is an engagement distance predetermined in a design stage or the actual engagement distance obtained from an elevator operation at an initial installation stage when the elevator is actually installed in a building.
4. Door control device of an elevator according to any of claims 1 to 3,
the drive control unit transmits at least the abnormal state determined by the abnormality determination unit and the engagement deviation adjustment amount obtained by the adjustment amount calculation unit to a management center or a work terminal of a maintenance worker.
5. A method of controlling a door of an elevator, the elevator comprising: a car side door that opens and closes upper and lower ports of an elevator car; a landing side door that opens and closes upper and lower ports of a landing on each floor; a motor that drives the car side door to open and close; an engaging mechanism provided between the car side door and the landing side door, the engaging mechanism including an engaging member provided in the car side door and an engaged member provided in the landing side door, the engaging member causing the landing side door to perform an opening and closing operation in conjunction with an opening and closing operation of the car side door performed by the opening and closing drive of the motor; and a drive control unit for controlling the motor, characterized in that,
the drive control unit includes a microcomputer, and the microcomputer
Obtaining an actual engagement distance that is a movement distance of the engagement member when the engagement member provided in the car side door is engaged with the engaged member provided in the landing side door by opening or closing the car side door;
obtaining an approach distance indicating an approach degree of the engaging member to the engaged member based on the actual engaging distance and a predetermined reference engaging distance between the engaging member and the engaged member;
determining that the engaging member and the engaged member are in an abnormal state when it is determined that the engaging member and the engaged member are close to a predetermined distance or more based on the proximity distance;
an adjustment amount for adjusting the actual engagement distance between the engaging member and the engaged member is obtained based on the approach distance,
the drive control unit
Obtaining the actual engagement distance from a movement distance of the engagement member until the engagement member starts moving to a point of contact with the engaged member;
subtracting the actual engagement distance from the reference engagement distance to obtain the approach distance, which is hereinafter referred to as an engagement deviation amount;
determining an abnormal state by comparing an engagement deviation difference, which is a difference between the engagement deviation amount and an engagement deviation amount threshold value, which is an allowable engagement deviation amount predetermined based on the reference engagement distance, with a predetermined difference determination threshold value;
the engagement deviation difference, which is a difference between the engagement deviation amount and the engagement deviation amount threshold, is obtained as the adjustment amount, i.e., the engagement deviation adjustment amount.
6. A door control device method of an elevator according to claim 5,
and at least sending the abnormal state and the clamping deviation adjustment amount to a management center or an operation terminal of a maintenance worker.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018212111A JP7090529B2 (en) | 2018-11-12 | 2018-11-12 | Elevator door control device and door control method |
| JP2018-212111 | 2018-11-12 |
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| Publication Number | Publication Date |
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| CN111170128A CN111170128A (en) | 2020-05-19 |
| CN111170128B true CN111170128B (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911087299.8A Active CN111170128B (en) | 2018-11-12 | 2019-11-08 | Door control device and door control method for elevator |
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| CN (1) | CN111170128B (en) |
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| JP6930651B1 (en) * | 2020-12-15 | 2021-09-01 | 三菱電機株式会社 | Inspection system and elevator |
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| Publication number | Publication date |
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| JP7090529B2 (en) | 2022-06-24 |
| JP2020079126A (en) | 2020-05-28 |
| CN111170128A (en) | 2020-05-19 |
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